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1. Replace boost enable_if and is_base_of with those in stl 

2. Removed boost header files
3. Removed testFactorGraph.cpp
release/4.3a0
Yao Chen 2016-10-08 10:55:22 -04:00
parent 60f556e513
commit 9ba6b80f9e
2 changed files with 19 additions and 61 deletions
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36
gtsam/inference/FactorGraph.h
View File

@ -22,17 +22,16 @@
#pragma once
#include <boost/serialization/nvp.hpp>
#include <boost/assign/list_inserter.hpp>
#include <boost/bind.hpp>
#include <boost/make_shared.hpp>
#include <boost/utility/enable_if.hpp>
#include <boost/type_traits.hpp>
#include <gtsam/base/Testable.h>
#include <gtsam/base/FastVector.h>
#include <gtsam/inference/Key.h>
#include <boost/serialization/nvp.hpp>
#include <boost/assign/list_inserter.hpp>
#include <boost/bind.hpp>
#include <boost/make_shared.hpp>
#include <type_traits>
#include <utility>
namespace gtsam {
@ -153,7 +152,7 @@ namespace gtsam {
/** Add a factor directly using a shared_ptr */
template<class DERIVEDFACTOR>
typename boost::enable_if<boost::is_base_of<FactorType, DERIVEDFACTOR> >::type
typename std::enable_if<std::is_base_of<FactorType, DERIVEDFACTOR>::value>::type
push_back(boost::shared_ptr<DERIVEDFACTOR> factor) {
factors_.push_back(boost::shared_ptr<FACTOR>(factor)); }
@ -163,19 +162,20 @@ namespace gtsam {
/** Emplace a factor */
template<class DERIVEDFACTOR, class... Args>
void emplace_shared(Args&&... args) {
typename std::enable_if<std::is_base_of<FactorType, DERIVEDFACTOR>::value>::type
emplace_shared(Args&&... args) {
factors_.push_back(boost::make_shared<DERIVEDFACTOR>(std::forward<Args>(args)...));
}
/** push back many factors with an iterator over shared_ptr (factors are not copied) */
template<typename ITERATOR>
typename boost::enable_if<boost::is_base_of<FactorType, typename ITERATOR::value_type::element_type> >::type
typename std::enable_if<std::is_base_of<FactorType, typename ITERATOR::value_type::element_type>::value>::type
push_back(ITERATOR firstFactor, ITERATOR lastFactor) {
factors_.insert(end(), firstFactor, lastFactor); }
/** push back many factors as shared_ptr's in a container (factors are not copied) */
template<typename CONTAINER>
typename boost::enable_if<boost::is_base_of<FactorType, typename CONTAINER::value_type::element_type> >::type
typename std::enable_if<std::is_base_of<FactorType, typename CONTAINER::value_type::element_type>::value>::type
push_back(const CONTAINER& container) {
push_back(container.begin(), container.end());
}
@ -183,22 +183,24 @@ namespace gtsam {
/** push back a BayesTree as a collection of factors. NOTE: This should be hidden in derived
* classes in favor of a type-specialized version that calls this templated function. */
template<class CLIQUE>
typename boost::enable_if<boost::is_base_of<This, typename CLIQUE::FactorGraphType> >::type
typename std::enable_if<std::is_base_of<This, typename CLIQUE::FactorGraphType>::value>::type
push_back(const BayesTree<CLIQUE>& bayesTree) {
bayesTree.addFactorsToGraph(*this);
}
#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4
/** Add a factor by value, will be copy-constructed (use push_back with a shared_ptr to avoid
* the copy). */
template<class DERIVEDFACTOR>
typename boost::enable_if<boost::is_base_of<FactorType, DERIVEDFACTOR> >::type
typename std::enable_if<std::is_base_of<FactorType, DERIVEDFACTOR>::value>::type
push_back(const DERIVEDFACTOR& factor) {
factors_.push_back(boost::make_shared<DERIVEDFACTOR>(factor));
}
#endif
/** push back many factors with an iterator over plain factors (factors are copied) */
template<typename ITERATOR>
typename boost::enable_if<boost::is_base_of<FactorType, typename ITERATOR::value_type> >::type
typename std::enable_if<std::is_base_of<FactorType, typename ITERATOR::value_type>::value>::type
push_back(ITERATOR firstFactor, ITERATOR lastFactor) {
for (ITERATOR f = firstFactor; f != lastFactor; ++f)
push_back(*f);
@ -206,14 +208,14 @@ namespace gtsam {
/** push back many factors as non-pointer objects in a container (factors are copied) */
template<typename CONTAINER>
typename boost::enable_if<boost::is_base_of<FactorType, typename CONTAINER::value_type> >::type
typename std::enable_if<std::is_base_of<FactorType, typename CONTAINER::value_type>::value>::type
push_back(const CONTAINER& container) {
push_back(container.begin(), container.end());
}
/** Add a factor directly using a shared_ptr */
template<class DERIVEDFACTOR>
typename boost::enable_if<boost::is_base_of<FactorType, DERIVEDFACTOR>,
typename std::enable_if<std::is_base_of<FactorType, DERIVEDFACTOR>::value,
boost::assign::list_inserter<RefCallPushBack<This> > >::type
operator+=(boost::shared_ptr<DERIVEDFACTOR> factor) {
return boost::assign::make_list_inserter(RefCallPushBack<This>(*this))(factor);
@ -234,7 +236,7 @@ namespace gtsam {
/** Add a factor directly using a shared_ptr */
template<class DERIVEDFACTOR>
typename boost::enable_if<boost::is_base_of<FactorType, DERIVEDFACTOR> >::type
typename std::enable_if<std::is_base_of<FactorType, DERIVEDFACTOR>::value>::type
add(boost::shared_ptr<DERIVEDFACTOR> factor) {
push_back(factor);
}

44
gtsam/inference/tests/testFactorGraph.cpp
View File

@ -1,44 +0,0 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
* See LICENSE for the license information
* -------------------------------------------------------------------------- */
/**
* @file testFactorGraph.cpp
* @author Yao Chen
*/
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/slam/ProjectionFactor.h>
#include <gtsam/inference/Symbol.h>
#include <gtsam/base/TestableAssertions.h>
#include <CppUnitLite/TestHarness.h>
using namespace std;
using namespace gtsam;
TEST(FactorGraph, testEmplaceShared) {
Cal3_S2::shared_ptr K(new Cal3_S2(50.0, 50.0, 0.0, 50.0, 50.0));
noiseModel::Isotropic::shared_ptr measurementNoise = noiseModel::Isotropic::Sigma(2, 1.0);
Point2 measurement(10.0, 10.0);
NonlinearFactorGraph graph;
graph.push_back(GenericProjectionFactor<Pose3, Point3, Cal3_S2>(measurement, measurementNoise, Symbol('x', 0), Symbol('l', 0), K));
graph.emplace_shared<GenericProjectionFactor<Pose3, Point3, Cal3_S2> >(measurement, measurementNoise, Symbol('x', 0), Symbol('l', 0), K);
EXPECT_LONGS_EQUAL(2, graph.size());
EXPECT(graph[0]->equals(*(graph[1])));
}
/* ************************************************************************* */
int main() { TestResult tr; return TestRegistry::runAllTests(tr); }
/* ************************************************************************* */